version: 66.12
revision: CLOWNFISH
glider: 626
mission: 2
dive: 208
start: 4 1 118 23 4 43
data:
$ID,626
$MISSION,2
$DIVE,208
$N_DIVES,0
$STOP_T,12201818
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$D_NO_BLEED,60
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,680
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54699
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,211
$PITCH_MAX,3943
$C_PITCH,2569
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2420
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2210
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38618
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,2.21
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044050994
$SEABIRD_T_H,0.00064172823
$SEABIRD_T_I,2.5755839e-05
$SEABIRD_T_J,3.1466591e-06
$SEABIRD_C_G,-9.6491127
$SEABIRD_C_H,1.0791453
$SEABIRD_C_I,-0.0026383207
$SEABIRD_C_J,0.00025441265
$GPS1,010418,225908,2227.2598,-15642.2627,15,1.5,15,9.9,1.1,309.1,7,74.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.6
$GPS2,010418,230407,2227.2917,-15642.2979,18,1.6,18,9.9,0.0,0.0,7,72.2
$SPEED_LIMITS,0.173,0.225
$TGT_NAME,M7
$TGT_LATLONG,2227.000,-15642.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,100.9,744,-24.7,-10.000,-27.03,1234
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.87,-80.4,187,2421,677,641,0.0,0.0,0,80,0.00,0.00,-57.47,0.000,16390,0.000,0.000,187,2422,2537,2571,2504,0,0,0,0,0,0,15.00,13.98,14.96
$GC,82,-0.89,-92.6,187,2421,2571,2504,4.4,-9.0,8,101,6.80,2.33,-0.95,0.000,18692,0.440,0.067,2266,3833,2591,2628,2554,0,0,0,0,0,0,14.46,13.69,14.78
$GC,150,-0.89,-92.6,2266,3833,2628,2554,32.0,-36.3,18,157,0.05,2.30,0.00,0.000,3078,0.452,0.049,2280,2429,2591,2628,2554,0,0,0,0,0,0,14.54,14.76,14.78
$GC,405,-0.89,-92.6,2280,2428,2629,2554,115.9,-30.4,43,411,0.00,2.30,0.00,0.000,2308,0.000,0.057,2277,3821,2591,2629,2554,0,0,0,0,0,0,15.07,14.80,15.07
$GC,429,-0.89,-92.6,2276,3822,2629,2554,123.0,-29.9,45,435,0.00,2.28,0.00,0.000,3078,0.000,0.044,2277,2418,2591,2629,2553,0,0,0,0,0,0,14.92,14.83,14.93
$GC,685,-0.89,-92.6,2276,2418,2631,2554,193.1,-24.1,70,690,0.00,2.30,0.00,0.000,2564,0.000,0.060,2277,1007,2592,2632,2553,0,0,0,0,0,0,15.12,14.85,15.12
$GC,732,-0.89,-92.6,2276,1007,2632,2554,204.4,-24.2,74,737,0.00,2.33,0.00,0.000,3078,0.000,0.052,2276,2421,2592,2631,2554,0,0,0,0,0,0,14.97,14.85,14.97
$GC,1011,-0.89,-92.6,2276,2422,2634,2554,269.5,-22.5,81,1016,0.00,2.30,0.00,0.000,2308,0.000,0.067,2276,3824,2594,2634,2554,0,0,0,0,0,0,15.18,14.88,15.19
$GC,1257,-0.89,-92.6,2276,3823,2634,2554,320.0,-20.2,87,1263,0.00,2.25,0.00,0.000,3078,0.000,0.044,2276,2416,2594,2634,2554,0,0,0,0,0,0,15.04,14.94,15.04
$GC,1535,-0.89,-92.6,2276,2415,2635,2554,377.8,-20.7,94,1541,0.00,2.30,0.00,0.000,2564,0.000,0.059,2276,1006,2594,2635,2553,0,0,0,0,0,0,15.23,14.95,15.23
$GC,1578,-0.89,-92.6,2276,1006,2635,2553,387.1,-21.0,95,1583,0.00,2.33,0.00,0.000,3078,0.000,0.054,2276,2422,2594,2634,2554,0,0,0,0,0,0,15.06,14.95,15.07
$GC,1860,-0.89,-92.6,2275,2424,2635,2553,444.7,-20.2,102,1861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2276,2423,2594,2635,2553,0,0,0,0,0,0,15.23,15.24,15.24
$GC,2101,-0.89,-92.6,2275,2424,2635,2552,493.4,-20.3,108,2106,0.00,2.30,0.00,0.000,2308,0.000,0.062,2276,3837,2593,2635,2552,0,0,0,0,0,0,15.25,14.96,15.25
$GC,2112,-0.89,-92.6,2276,3837,2635,2552,493.4,-20.3,108,2117,0.00,2.25,0.00,0.000,3078,0.000,0.040,2276,2419,2593,2635,2552,0,0,0,0,0,0,15.09,15.00,15.09
$GC,2384,-0.89,-92.6,2275,2419,2635,2549,550.8,-20.3,115,2389,0.00,2.28,0.00,0.000,2564,0.000,0.057,2276,1013,2592,2635,2549,0,0,0,0,0,0,15.26,14.97,15.26
$GC,2420,-0.89,-92.6,2275,1013,2635,2548,550.8,-20.3,115,2427,0.00,2.30,0.00,0.000,3078,0.000,0.052,2276,2422,2591,2635,2548,0,0,0,0,0,0,15.08,14.97,15.09
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2670,-0.16,0.0,2276,2184,2635,2544,604.8,-19.2,122,2747,0.68,0.00,72.62,1.664,10246,0.319,0.000,2516,2181,2209,2278,2141,0,0,0,0,0,0,14.74,14.53,13.95
$STATE,2748,end apogee,CONTROL_FINISHED_OK
$STATE,2748,begin climb
$GC,2749,0.89,92.6,2516,2181,2278,2141,611.0,0.0,124,2833,0.82,2.45,75.03,1.977,10500,0.204,0.057,2838,3608,1831,1920,1742,0,0,0,0,0,0,14.42,14.23,13.59
$GC,2990,0.89,92.6,2838,3608,1918,1741,584.9,14.0,130,2996,0.00,2.33,0.00,0.000,3078,0.000,0.047,2849,2209,1829,1917,1741,0,0,0,0,0,0,14.71,14.64,14.73
$GC,3272,0.89,92.6,2848,2209,1916,1737,544.5,14.1,137,3278,0.00,2.35,0.00,0.000,2564,0.000,0.060,2860,784,1827,1918,1737,0,0,0,0,0,0,15.04,14.79,15.04
$GC,3428,0.89,92.6,2860,784,1916,1737,525.7,15.3,140,3435,0.00,2.33,0.00,0.000,5126,0.000,0.041,2860,2216,1826,1916,1736,0,0,0,0,0,0,14.93,14.85,14.94
$GC,3675,0.89,92.6,2859,2216,1916,1733,484.9,14.6,147,3680,0.00,2.35,0.00,0.000,4612,0.000,0.054,2871,781,1824,1916,1733,0,0,0,0,0,0,15.14,14.89,15.14
$GC,3691,0.89,92.6,2871,781,1916,1733,484.9,14.6,147,3698,0.05,2.30,0.00,0.000,5126,0.480,0.039,2856,2210,1824,1916,1733,0,0,0,0,0,0,14.64,14.90,14.92
$GC,3960,0.89,92.6,2856,2211,1916,1730,448.8,12.2,154,3961,0.00,0.00,0.00,0.000,4102,0.000,0.000,2856,2212,1823,1916,1730,0,0,0,0,0,0,15.17,15.18,15.17
$GC,4200,0.89,92.6,2856,2211,1914,1729,422.4,10.9,160,4206,0.00,2.25,0.00,0.000,4356,0.000,0.053,2856,3602,1821,1914,1729,0,0,0,0,0,0,15.19,14.93,15.20
$GC,4707,0.89,96.6,2856,3604,1909,1729,375.5,9.7,172,4712,0.00,2.28,0.00,0.000,5126,0.000,0.043,2866,2182,1819,1909,1729,0,0,0,0,0,0,15.04,14.96,15.05
$GC,4964,0.89,96.6,2865,2182,1909,1727,347.2,10.3,179,4969,0.00,2.22,0.00,0.000,4612,0.000,0.053,2877,797,1818,1909,1727,0,0,0,0,0,0,15.22,14.96,15.23
$GC,4995,0.89,96.6,2876,797,1908,1727,347.2,10.3,179,5003,0.08,2.22,0.00,0.000,5126,0.435,0.036,2853,2210,1817,1908,1727,0,0,0,0,0,0,14.68,14.98,14.96
$GC,5251,0.90,100.3,2854,2212,1908,1726,317.8,9.7,186,5261,0.00,2.33,5.15,1.020,8708,0.000,0.056,2863,799,1799,1891,1708,0,0,0,0,0,0,15.23,14.85,14.36
$GC,5503,0.92,120.2,2863,797,1890,1707,296.3,8.3,192,5527,0.00,2.25,15.85,1.210,9222,0.000,0.041,2863,2205,1718,1807,1629,0,0,0,0,0,0,15.04,14.97,14.37
$GC,5774,0.92,120.2,2863,2205,1807,1628,267.7,10.6,199,5779,0.00,2.25,0.00,0.000,260,0.000,0.052,2863,3605,1717,1806,1628,0,0,0,0,0,0,15.16,14.90,15.16
$GC,5890,0.92,120.2,2863,3605,1806,1628,258.3,10.9,201,5897,0.00,2.25,0.00,0.000,5126,0.000,0.042,2874,2202,1717,1806,1628,0,0,0,0,0,0,15.01,14.92,15.02
$GC,6137,0.94,136.0,2874,2202,1806,1627,230.9,8.7,208,6156,0.00,2.28,13.07,1.100,12548,0.000,0.047,2874,3599,1652,1742,1563,0,0,0,0,0,0,15.19,14.79,14.39
$GC,6179,0.96,152.2,2873,3599,1741,1565,226.6,8.7,209,6198,0.00,2.28,13.38,1.125,13318,0.000,0.042,2885,2195,1587,1675,1499,0,0,0,0,0,0,14.97,14.90,14.34
$GC,6442,0.96,152.2,2885,2195,1675,1499,191.1,14.2,217,6448,0.00,2.33,0.00,0.000,4356,0.000,0.050,2885,3606,1587,1675,1499,0,0,0,0,0,0,15.11,14.86,15.10
$GC,6501,0.96,152.2,2884,3607,1674,1498,182.1,15.6,222,6510,0.05,2.33,0.00,0.000,5126,0.444,0.044,2880,2206,1586,1674,1499,0,0,0,0,0,0,14.57,14.83,14.76
$GC,6750,0.96,152.2,2880,2205,1674,1498,148.3,12.9,247,6756,0.00,2.30,0.00,0.000,4612,0.000,0.054,2890,789,1586,1674,1498,0,0,0,0,0,0,15.13,14.89,15.13
$GC,6907,0.96,152.2,2890,786,1673,1499,128.3,11.7,261,6914,0.00,2.28,0.00,0.000,5126,0.000,0.034,2891,2209,1585,1673,1498,0,0,0,0,0,0,14.98,14.90,14.99
$GC,7154,0.96,152.2,2890,2209,1674,1499,99.9,10.2,286,7159,0.00,2.25,0.00,0.000,4356,0.000,0.050,2890,3601,1586,1674,1499,0,0,0,0,0,0,15.14,14.90,15.14
$GC,7241,0.96,152.2,2890,3602,1673,1500,90.2,11.2,294,7247,0.08,2.28,0.00,0.000,5126,0.459,0.041,2878,2184,1586,1673,1499,0,0,0,0,0,0,14.61,14.90,14.90
$GC,7496,0.98,168.4,2878,2184,1673,1501,69.2,8.6,319,7515,0.00,2.30,13.18,0.879,10500,0.000,0.046,2878,3600,1520,1609,1432,0,0,0,0,0,0,15.14,14.76,14.38
$GC,7524,1.00,182.7,2878,3600,1609,1433,66.7,8.8,321,7542,0.00,2.25,11.38,0.884,9222,0.000,0.041,2888,2205,1463,1551,1376,0,0,0,0,0,0,14.92,14.86,14.38
$GC,7787,1.00,182.7,2888,2205,1551,1383,29.0,16.2,347,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2205,1466,1550,1383,0,0,0,0,0,0,15.06,15.07,15.06
$STATE,7962,end climb,SURFACE_DEPTH_REACHED
$STATE,7962,begin surface coast
$FINISH,0.3,1.023820
$STATE,7981,end surface coast,CONTROL_FINISHED_OK
$STATE,7982,begin surface
$SM_CCo,7995,116.35,0.113,0,0,659,380.21
$SM_GC,1.42,6.15,0.35,116.35,0.073,0.067,0.113,187,2431,659,-7.30,-1.27,380.21,0,0,0,0,0,0,14.86,14.84,14.71
$IRIDIUM_FIX,2218.34,-15641.34,010418,230023
$TT8_MAMPS,0.018725,0.322819
$HUMID,41.45
$INTERNAL_PRESSURE,9.41701
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,53.3,6.4
$24V_AH,13.59,52.683
$10V_AH,13.72,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.750,87.825,219.650,116.350,0.000,32.915,54.773,104.717,0.500,0.000,20.405,1577.772,4635.856,444.159,1688.127,91.060,0.000,1097.307,0.000,1443.701,0.000,5.459,0.000
$DEVICE_MAMPS,479.655,67.320,1976.760,113.220,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,256.771,198.502,350.225,349.963,536.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000
$MEM,343080
$DATA_FILE_SIZE,34086,379
$CAP_FILE_SIZE,88255,0
$CFSIZE,2097086464,2073559040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4996.31,0x2338ba,1,24
$CURRENT,0.112,273.81,1
$GPS,020418,012101,2227.070,-15642.146,29,0.8,32,9.9,0.0,0.0,10,12.6